diff --git a/templates/component.ros2.j2 b/templates/component.ros2.j2
index d257e10..c77750c 100644
--- a/templates/component.ros2.j2
+++ b/templates/component.ros2.j2
@@ -3,7 +3,7 @@
   {% for artifact in model.artifact %}
     {{ artifact.name }}:
       {% for node in artifact.node %}
-      node: {{ node.name.full_name.lstrip('/') }}
+      node: {{ node.name.full_name }}
       {% if node.publisher | length >0 %}
       publishers:
         {% for interface in node.publisher %}
diff --git a/templates/rossystem.rossystem.j2 b/templates/rossystem.rossystem.j2
index 57db731..e9c8ea0 100644
--- a/templates/rossystem.rossystem.j2
+++ b/templates/rossystem.rossystem.j2
@@ -4,7 +4,7 @@
   {% for node in model.nodes %}
     {% set pkg_attr = node|attr('package') %}
     {% set pkg = pkg_attr if pkg_attr is not undefined and pkg_attr else 'TODO' %}
-    {% set node_identifier = node.name.full_name.lstrip('/') %}
+    {% set node_identifier = node.name.full_name %}
     {% set exec_attr = node|attr('executable') %}
     {% set exec_name = exec_attr if exec_attr is not undefined and exec_attr else (node_identifier.lstrip('/') if node_identifier else '') %}
     {% if exec_name == '' %}
diff --git a/test/outputs/test_model.ros2 b/test/outputs/test_model.ros2
index fcaf14f..1d1fd29 100644
--- a/test/outputs/test_model.ros2
+++ b/test/outputs/test_model.ros2
@@ -1,7 +1,7 @@
 test_model:
   artifacts:
     map_server:
-      node: map_server
+      node: /map_server
       publishers:
         'map_metadata':
           type: 'nav_msgs/msg/MapMetaData'
diff --git a/test/outputs/test_system.rossystem b/test/outputs/test_system.rossystem
index dce184c..a5628f6 100644
--- a/test/outputs/test_system.rossystem
+++ b/test/outputs/test_system.rossystem
@@ -1,7 +1,7 @@
 test_system:
   nodes:
-    "map_server":
-      from: "TODO.map_server"
+    "/map_server":
+      from: "TODO./map_server"
       interfaces:
         - "map_metadata": pub-> "map_server::map_metadata"
         - "map": pub-> "map_server::map"
@@ -13,5 +13,5 @@ test_system:
         - "shadows/min_angle": "map_server::shadows/min_angle"
           value: -1.52
   connections:
-    - ["map_server.static_map", "map_server.static_map"]
-    - ["map_server.static_map", "map_server.static_map"]
+    - ["/map_server.static_map", "/map_server.static_map"]
+    - ["/map_server.static_map", "/map_server.static_map"]
diff --git a/test/unittest/test_generate_component.py b/test/unittest/test_generate_component.py
index 8495f64..76177da 100644
--- a/test/unittest/test_generate_component.py
+++ b/test/unittest/test_generate_component.py
@@ -54,7 +54,7 @@
 test_model:
   artifacts:
     map_server:
-      node: map_server
+      node: /map_server
       publishers:
         'map_metadata':
           type: 'nav_msgs/msg/MapMetaData'
diff --git a/test/unittest/test_generate_system.py b/test/unittest/test_generate_system.py
index e49314d..54bf507 100644
--- a/test/unittest/test_generate_system.py
+++ b/test/unittest/test_generate_system.py
@@ -42,8 +42,8 @@
 expect_result = """
 test_system:
   nodes:
-    "map_server":
-      from: "TODO.map_server"
+    "/map_server":
+      from: "TODO./map_server"
       interfaces:
         - "map_metadata": pub-> "map_server::map_metadata"
         - "map": pub-> "map_server::map"
@@ -55,8 +55,8 @@
         - "shadows/min_angle": "map_server::shadows/min_angle"
           value: -1.52
   connections:
-    - ["map_server.static_map", "map_server.static_map"]
-    - ["map_server.static_map", "map_server.static_map"]
+    - ["/map_server.static_map", "/map_server.static_map"]
+    - ["/map_server.static_map", "/map_server.static_map"]
 
 """